/*
 * Copyright (c) 2014, Skybotix AG, Switzerland (info@skybotix.com)
 * Copyright (c) 2014, Autonomous Systems Lab, ETH Zurich, Switzerland
 *
 * All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

#ifndef IMU_ADIS16448_HPP_
#define IMU_ADIS16448_HPP_

#include <config/config.hpp>
#include <boost/smart_ptr.hpp>

#include "networking/connection.hpp"
#include "sensors/imu.hpp"

namespace visensor
{
namespace ImuAdis16448Defaults
{
const int
	RATE=IMU_FREQUENCY,
	MSG_SIZE=(10+6*2),
	NUM_OF_MSGS_IN_PACKAGE=10,
	CALIBRATION_SIZE=0;
const bool USE_CONST_PACKAGE_SIZE=true;
}

class ImuAdis16448 : public Imu {
public:
  typedef boost::shared_ptr<ImuAdis16448> Ptr;

	ImuAdis16448(SensorId::SensorId sensor_id, IpConnection::WeakPtr config_connection);
	virtual ~ImuAdis16448(){};

	virtual ViConfigMsg getConfigParam(std::string cmd, uint32_t value);
	//the threaded function that works on the queue of finished measurements
	void processMeasurements();
	virtual void init();
	static uint32_t calculateBufferSize();

private:
	void allocateBuffer();
	int getNumOfNewMsgs();
	void resetBuffer();
	void getGyro(uint8_t * buffer, double * gyro);
	void getAcc(uint8_t * buffer, double * acc);
	void getMag(uint8_t * buffer, double * mag);
	void getBaro(uint8_t * buffer, double * baro);
	void getTemp(uint8_t * buffer, double * temp);
	void newImuMsgs();
	uint64_t getTimestamp();
};
} //namespace visensor

#endif /* IMU_ADIS16448_HPP_ */
